公开(公告)号：US09746037B2

公开(公告)日：2017-08-29

申请号：US14346536

申请日：2012-09-24

Applicant: NTN CORPORATION

Inventor： Keisuke Sone ,  Hirokazu Ooba ,  Arito Matsui ,  Hiroki Mukai

IPC: B25J17/00 ,  B25J17/02 ,  B25J18/00 ,  F16D3/30 ,  F16H21/54 ,  F16M11/12 ,  F16M11/18 ,  F16M13/00 ,  A61F5/01

CPC classification number: F16D3/30 ,  A61F5/01 ,  B25J9/0048 ,  F16H21/54 ,  F16M11/121 ,  F16M11/18 ,  F16M13/00 ,  Y10T403/36

Abstract: A link actuating device includes input side and output side link hubs, and two sets of link mechanisms. Each of the link mechanisms is a three-link-chain link mechanism including four revolute pairs, and includes input side and output side end links rotatably connected to the input side and output side link hubs and an intermediate links rotatably connected to input side and output side end links. The link mechanism have a positional relationship in which the revolute pair axes between the link hubs and the end links are located on the same plane and cross each other. At least one of the two sets of link mechanisms is provided with interlocking unit that interlocks the input side end link and the output side end link to each other so as to be rotationally displaced.

公开(公告)号：US20140248965A1

公开(公告)日：2014-09-04

申请号：US14352005

申请日：2012-10-10

Applicant: NTN CORPORATION

Inventor： Hiroshi Isobe ,  Hiroyuki Yamada ,  Keisuke Sone

IPC: F16D3/30

CPC classification number: F16D3/30 ,  B25J9/0048 ,  B25J9/108 ,  B25J19/0062 ,  F16C19/06 ,  F16C19/163 ,  F16C19/26 ,  F16C19/46 ,  F16C19/543 ,  F16C33/6674 ,  F16H21/46 ,  Y10S464/905 ,  Y10T74/20335

Abstract: A parallel link mechanism includes proximal end side and distal end side link hubs, and three or more link mechanisms. Each link mechanism is a trinodal link mechanism including four revolute pairs, and includes proximal side and distal side end link members and an intermediate link member. In each revolute pair of the link mechanism, a pair of pair constituent members is connected to each other via a bearing. A shaft portion provided in one pair constituent member is fitted on an inner periphery of an inner ring of the bearing, and an annular inner face forming portion provided in the other pair constituent member is fitted on an outer periphery of the outer ring of the bearing. The shaft portion and the annular inner face forming portion define a sealing structure which regulates flow of a lubricant between inside and outside of the bearing.

Abstract translation: 平行连杆机构包括近端侧和远端侧连接毂以及三个或更多个连杆机构。 每个连杆机构是包括四个旋转对的三联连杆机构，并且包括近端侧和远端侧连杆构件以及中间连杆构件。 在连杆机构的每个转动对中，一对成对构件通过轴承彼此连接。 设置在一对构成构件中的轴部装配在轴承的内圈的内周上，并且设置在另一对构成构件中的环形内表面形成部分装配在轴承的外圈的外周上 。 轴部分和环形内表面形成部分限定了一种密封结构，其调节润滑剂在轴承内部和外部之间的流动。

公开(公告)号：US10022827B2

公开(公告)日：2018-07-17

申请号：US14255214

申请日：2014-04-17

Applicant: NTN Corporation

Inventor： Hiroshi Isobe ,  Hiroyuki Yamada ,  Keisuke Sone

IPC: B23P19/04 ,  B25J9/16 ,  B25J9/00

Abstract: The method for initially setting a position of an origin of an actuator includes a first step of setting a distal end posture being a posture of a distal end side link hub relative to a proximal end side link hub of a link actuator to a specified posture; a second step of applying a preload, which is a force that causes the distal end posture to be changed, to the link actuator having the distal end posture being the specified posture; and a third step of storing an amount of operation of each actuator in a state where the preload is applied to the link actuator, wherein the stored amount of operation is set as the position of the origin of the actuator.

公开(公告)号：US09976603B2

公开(公告)日：2018-05-22

申请号：US15067680

申请日：2016-03-11

Applicant: NTN CORPORATION

Inventor： Keisuke Sone ,  Hiroshi Isobe ,  Hiroyuki Yamada

IPC: B25J17/00 ,  F16D3/30 ,  F16H21/46 ,  B25J9/00 ,  B25J9/10 ,  B25J19/00 ,  F16C19/06 ,  F16C19/26 ,  F16C19/46

CPC classification number: F16D3/30 ,  B25J9/0048 ,  B25J9/108 ,  B25J19/0062 ,  F16C19/06 ,  F16C19/26 ,  F16C19/46 ,  F16H21/46 ,  Y10S464/905 ,  Y10T74/20335

Abstract: A parallel link mechanism includes a proximal end side link hub; a distal end side link hub; and three or more link mechanisms that connect the distal end side link hub to the proximal end side link hub in a position-changeable fashion. Each of the link mechanisms has a trinodal structure. Each revolute pair of each of the link mechanisms includes one pair of pair constituent members connected to each other via a bearing. One of the pair constituent members is formed with a shaft portion fitted to an inner periphery of an inner ring of the bearing, and the other of the pair constituent members is formed with an annular inner face forming portion fitted to an outer periphery of an outer ring of the bearing.

公开(公告)号：US10661398B2

公开(公告)日：2020-05-26

申请号：US15923083

申请日：2018-03-16

Applicant: NTN CORPORATION

Inventor： Hiroshi Isobe ,  Hiroyuki Yamada ,  Keisuke Sone

IPC: B25J9/00 ,  B23P19/04 ,  B25J9/16

Abstract: A link actuator includes a proximal end side link hub, a distal end side link hub, and link mechanisms which connect the distal end side link hub to the proximal end side link hub. Each of the link mechanisms includes a proximal side end link member, a distal side end link member, and an intermediate link member. Each of the proximal end side link hub and the distal end side link hub is provided with a through-hole which allows an origin positioning shaft to be inserted therethrough. The distal end posture of the link actuator is set to a specified posture by inserting the origin positioning shaft through the through-holes. An amount of operation of actuators in a state where preload is applied to the link actuator is set as a position of an origin of the actuator.

公开(公告)号：US09394979B2

公开(公告)日：2016-07-19

申请号：US14355093

申请日：2012-11-01

Applicant: NTN CORPORATION

Inventor： Hiroyuki Yamada ,  Hiroshi Isobe ,  Keisuke Sone

IPC: F16H57/04 ,  B23Q11/12 ,  F16H21/46 ,  B25J9/00 ,  B25J9/10 ,  B25J19/00 ,  F16C19/06 ,  F16C19/22 ,  F16C33/66

CPC classification number: F16H21/46 ,  B25J9/0048 ,  B25J9/108 ,  B25J19/0062 ,  B25J19/0066 ,  F16C19/06 ,  F16C19/22 ,  F16C33/6625 ,  Y10T74/20207

Abstract: A bearing is interposed in the revolute pair between a proximal end side link hub and each proximal side end link member. A control device controls an actuator, to perform work-time control for causing a determined work operation to be executed and to perform, while the work-time control is stopped, grease circulation control for circulating grease sealed in the bearing. The maximum value θmax of a bending angle in the work-time control does not exceed the maximum allowable bending angle θ′max being the maximum value of the bending angle allowable in the mechanism, and the maximum value of the bending angle in the grease circulation control is greater than the maximum value θmax of the bending angle in the work-time control and smaller than the maximum allowable bending angle θ′max.

Abstract translation: 轴承插入在近端侧连接毂和每个近端侧连杆构件之间的旋转对中。 控制装置控制致动器，进行工作时间控制，以进行确定的工作操作，并且在停止工作时间控制的同时执行润滑脂循环控制，以循环润滑脂密封在轴承中。 工作时间控制中弯曲角度的最大值和最大值不超过最大允许弯曲角度;最大值为机构允许的弯曲角度的最大值，弯曲角度的最大值为 润滑脂循环控制大于工作时间控制中弯曲角度的最大值和最大值，小于最大允许弯曲角度＆amp;最大值;

公开(公告)号：US20140227023A1

公开(公告)日：2014-08-14

申请号：US14346536

申请日：2012-09-24

Applicant: NTN CORPORATION

Inventor： Keisuke Sone ,  Hirokazu Ooba ,  Arito Matsui ,  Hiroki Mukai

IPC: F16G11/12

CPC classification number: F16D3/30 ,  A61F5/01 ,  B25J9/0048 ,  F16H21/54 ,  F16M11/121 ,  F16M11/18 ,  F16M13/00 ,  Y10T403/36

Abstract: A link actuating device includes input side and output side link hubs, and two sets of link mechanisms. Each of the link mechanisms is a three-link-chain link mechanism including four revolute pairs, and includes input side and output side end links rotatably connected to the input side and output side link hubs and an intermediate links rotatably connected to input side and output side end links. The link mechanism have a positional relationship in which the revolute pair axes between the link hubs and the end links are located on the same plane and cross each other. At least one of the two sets of link mechanisms is provided with interlocking unit that interlocks the input side end link and the output side end link to each other so as to be rotationally displaced.

Abstract translation: 链接致动装置包括输入侧和输出侧连接毂，以及两组连杆机构。 每个链接机构是包括四个旋转对的三连杆链节机构，包括可旋转地连接到输入侧和输出侧连接轮毂的输入侧和输出侧端连杆，以及可旋转地连接到输入侧和输出的中间连杆 侧端连接。 连杆机构具有位置关系，其中连杆毂和端部连杆之间的旋转对轴线位于相同的平面上并交叉。 两组连杆机构中的至少一个设置有互锁单元，其将输入侧端部连杆和输出侧端部连杆彼此互锁以便被旋转地移位。

公开(公告)号：US20140223722A1

公开(公告)日：2014-08-14

申请号：US14255214

申请日：2014-04-17

Applicant: NTN Corporation

Inventor： Hiroshi ISOBE ,  Hiroyuki Yamada ,  Keisuke Sone

IPC: B23P19/04

CPC classification number: B23P19/04 ,  B25J9/0048 ,  B25J9/1623 ,  Y10T29/49826 ,  Y10T29/53

Abstract: The method for initially setting a position of an origin of an actuator includes: a first step of setting a distal end posture being a posture of a distal end side link hub (3) relative to a proximal end side link hub (2) of a link actuator (51) to a specified posture; a second step of applying a preload, which is a force that causes the distal end posture to be changed, to the link actuator (51) having the distal end posture being the specified posture; and a third step of storing an amount of operation of each actuator (53) in a state where the preload is applied to the link actuator (51), wherein the stored amount of operation is set as the position of the origin of the actuator (53).

Abstract translation: 用于初始设定致动器的原点的位置的方法包括：第一步骤，设置作为远端侧连接轮毂（3）的姿势的远端姿势，所述远端姿势相对于所述远端侧连接轮毂 连杆致动器（51）到指定的姿势; 将作为使前端姿势变化的力的预加载作为具有指定姿势的前端姿势的连杆致动器（51）的第二步骤; 以及第三步骤，将每个致动器（53）的操作量存储在所述预载荷施加到所述连杆致动器（51）的状态下，其中所述存储的操作量被设置为所述致动器的原点的位置（ 53）。

公开(公告)号：US09316266B2

公开(公告)日：2016-04-19

申请号：US14352005

申请日：2012-10-30

Applicant: NTN CORPORATION

Inventor： Hiroshi Isobe ,  Hiroyuki Yamada ,  Keisuke Sone

IPC: B25J17/00 ,  F16D3/30 ,  F16H21/46 ,  B25J9/00 ,  B25J9/10 ,  B25J19/00

CPC classification number: F16D3/30 ,  B25J9/0048 ,  B25J9/108 ,  B25J19/0062 ,  F16C19/06 ,  F16C19/26 ,  F16C19/46 ,  F16H21/46 ,  Y10S464/905 ,  Y10T74/20335

Abstract: A parallel link mechanism includes proximal end side and distal end side link hubs, and three or more link mechanisms. Each link mechanism is a trinodal link mechanism including four revolute pairs, and includes proximal side and distal side end link members and an intermediate link member. In each revolute pair of the link mechanism, a pair of pair constituent members is connected to each other via a bearing. A shaft portion provided in one pair constituent member is fitted on an inner periphery of an inner ring of the bearing, and an annular inner face forming portion provided in the other pair constituent member is fitted on an outer periphery of the outer ring of the bearing. The shaft portion and the annular inner face forming portion define a sealing structure which regulates flow of a lubricant between inside and outside of the bearing.

Abstract translation: 平行连杆机构包括近端侧和远端侧连接毂以及三个或更多个连杆机构。 每个连杆机构是包括四个旋转对的三联连杆机构，并且包括近端侧和远端侧连杆构件以及中间连杆构件。 在连杆机构的每个转动对中，一对成对构件通过轴承彼此连接。 设置在一对构成构件中的轴部装配在轴承的内圈的内周上，并且设置在另一对构成构件中的环形内表面形成部分装配在轴承的外圈的外周上 。 轴部分和环形内表面形成部分限定了一种密封结构，其调节润滑剂在轴承内部和外部之间的流动。

公开(公告)号：US20140305244A1

公开(公告)日：2014-10-16

申请号：US14355093

申请日：2012-11-01

Applicant: NTN CORPORATION

Inventor： Hiroyuki Yamada ,  Hiroshi Isobe ,  Keisuke Sone

IPC: F16H21/46

CPC classification number: F16H21/46 ,  B25J9/0048 ,  B25J9/108 ,  B25J19/0062 ,  B25J19/0066 ,  F16C19/06 ,  F16C19/22 ,  F16C33/6625 ,  Y10T74/20207

Abstract: A bearing is interposed in the revolute pair between a proximal end side link hub (2) and each proximal side end link member (5). A control device controls an actuator, to perform work-time control for causing a determined work operation to be executed and to perform, while the work-time control is stopped, grease circulation control for circulating grease sealed in the bearing. The maximum value θmax of a bending angle in the work-time control does not exceed the maximum allowable bending angle θ′max being the maximum value of the bending angle allowable in the mechanism, and the maximum value of the bending angle in the grease circulation control is greater than the maximum value θmax of the bending angle in the work-time control and smaller than the maximum allowable bending angle θ′max.

Abstract translation: 轴承插入在近端侧连接轮毂（2）和每个近侧端连杆构件（5）之间的旋转对中。 控制装置控制致动器，进行工作时间控制，以进行确定的工作操作，并且在停止工作时间控制的同时执行润滑脂循环控制，以循环润滑脂密封在轴承中。 工作时间控制中弯曲角度的最大值和最大值不超过最大允许弯曲角度;最大值为机构允许的弯曲角度的最大值，弯曲角度的最大值为 润滑脂循环控制大于工作时间控制中弯曲角度的最大值和最大值，小于最大允许弯曲角度＆amp;最大值;